/*
 * File: J_rl_T02_q2.c
 *
 * MATLAB Coder version            : 5.2
 * C/C++ source code generated on  : 22-Apr-2025 04:12:23
 */

/* Include Files */
#include "J_rl_T02_q2.h"
#include <math.h>
#include <string.h>

/* Function Definitions */
/*
 * J_RL_T02_Q2
 *     U22 = J_RL_T02_Q2(IN1,IN2)
 *
 * Arguments    : const double in1[4]
 *                const double in2[4]
 *                double u22[16]
 * Return Type  : void
 */
void J_rl_T02_q2(const double in1[4], const double in2[4], double u22[16])
{
  double b_u22_tmp;
  double t2;
  double t3;
  double t4;
  double t5;
  double t6;
  double t7;
  double t8;
  double t9;
  double u22_tmp;
  /*     This function was generated by the Symbolic Math Toolbox version 8.7.
   */
  /*     21-Apr-2025 11:22:22 */
  t2 = cos(in2[0]);
  t3 = cos(in2[1]);
  t4 = cos(in1[0]);
  t5 = cos(in1[1]);
  t6 = sin(in2[0]);
  t7 = sin(in2[1]);
  t8 = sin(in1[0]);
  t9 = sin(in1[1]);
  u22[0] = -t4 * t9 - t3 * t5 * t8;
  u22_tmp = t2 * t3 * t4;
  u22[1] = (-t5 * t6 * t7 - t2 * t8 * t9) + u22_tmp * t5;
  b_u22_tmp = t3 * t4;
  u22[2] = (t2 * t5 * t7 - t6 * t8 * t9) + b_u22_tmp * t5 * t6;
  u22[3] = 0.0;
  u22[4] = -t4 * t5 + t3 * t8 * t9;
  u22[5] = (-t2 * t5 * t8 + t6 * t7 * t9) - u22_tmp * t9;
  u22[6] = (-t2 * t7 * t9 - t5 * t6 * t8) - b_u22_tmp * t6 * t9;
  memset(&u22[7], 0, 9U * sizeof(double));
}

/*
 * File trailer for J_rl_T02_q2.c
 *
 * [EOF]
 */
